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<a href="fsm__pdo_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: fsm_pdo.c,v ec403cf308eb 2013/02/12 14:46:43 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  with the IgH EtherCAT Master; if not, write to the Free Software</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  ---</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="master_8h.html">master.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="mailbox_8h.html">mailbox.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="slave__config_8h.html">slave_config.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fsm__pdo_8h.html">fsm_pdo.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a3400d841b7b7dc298c0d2698a910d063">ec_fsm_pdo_read_state_start</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a2bc12f676c54517fbedcc0d1dfd1641e">ec_fsm_pdo_read_state_pdo_count</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a3d1b9fe3c9f3e7885347faaf09bcf1e1">ec_fsm_pdo_read_state_pdo</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a6676f274857f9bd450f5f74053d79eff">ec_fsm_pdo_read_state_pdo_entries</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a42248b22b855e24ed26eda0062138c37">ec_fsm_pdo_read_action_next_pdo</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#ae431cbfd699fdf7e875a347a771adc2a">ec_fsm_pdo_conf_state_start</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a86d7941eeb21995e622dc8fc910107c4">ec_fsm_pdo_conf_state_read_mapping</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a6de72a51b22c6d2aa98f0aa1f23a30bc">ec_fsm_pdo_conf_state_mapping</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a61d6727b2003591ecc4d493312321028">ec_fsm_pdo_conf_state_zero_pdo_count</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a9a09b501ea734575d8761766f7a2c798">ec_fsm_pdo_conf_state_assign_pdo</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a9a9154e743c691ee85355e155ae0f8ff">ec_fsm_pdo_conf_state_set_pdo_count</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">ec_fsm_pdo_conf_action_next_sync</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a9500b76d61e46b2e6906d21d93eb42b0">ec_fsm_pdo_conf_action_pdo_mapping</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#adf6b32f9717d783f066feb2268317387">ec_fsm_pdo_conf_action_check_mapping</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#ac0e2b8e960f8251fd995942684816dfe">ec_fsm_pdo_conf_action_next_pdo_mapping</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a9669ea3ae334cee2b0a76bfa3b540767">ec_fsm_pdo_conf_action_check_assignment</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a935c62948338bf55beef8ea894d869a1">ec_fsm_pdo_conf_action_assign_pdo</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">ec_fsm_pdo_state_end</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a>(<a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="fsm__pdo_8h.html#a5f2b78b06fa9e689c194ea1c3f42aa97">   74</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#ac0785235fca5314b2d528ff3cb38ffc3">ec_fsm_pdo_init</a>(</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <a class="code" href="structec__fsm__coe.html">ec_fsm_coe_t</a> *fsm_coe </div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        )</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a> = fsm_coe;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <a class="code" href="fsm__pdo__entry_8c.html#a133b853be4523479faa849c220581400">ec_fsm_pdo_entry_init</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>, fsm_coe);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <a class="code" href="pdo__list_8c.html#ac6f343a6f07a1f817fc0c8820fbd5314">ec_pdo_list_init</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <a class="code" href="sdo__request_8c.html#a0e62e96b9d01ab1b89cc2df89d0ac8ef">ec_sdo_request_init</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <a class="code" href="pdo_8c.html#a0766e8e7b4f607aa3b8ce3320198c23b">ec_pdo_init</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;}</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="fsm__pdo_8h.html#ae96b73951f5170af4977821f0fa65be7">   90</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a2a834bb1087c6c89bcebeabd961677a3">ec_fsm_pdo_clear</a>(</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm </div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        )</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;{</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <a class="code" href="fsm__pdo__entry_8c.html#a825211609f332cdf5edeef3b472292d6">ec_fsm_pdo_entry_clear</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="pdo__list_8c.html#a30f05a34cf44b4d4f5bd47db39addb95">ec_pdo_list_clear</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <a class="code" href="sdo__request_8c.html#af3a555948ca6b916238e6c696d676645">ec_sdo_request_clear</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="pdo_8c.html#a2fdbc33334b65a05865e9df69df1737c">ec_pdo_clear</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#ab82b16e9e90a718617989b1046a825da">  104</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#ab82b16e9e90a718617989b1046a825da">ec_fsm_pdo_print</a>(</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm </div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        )</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;{</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    printk(<span class="stringliteral">&quot;Currently assigned PDOs: &quot;</span>);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <a class="code" href="pdo__list_8c.html#a75bc7cee35f668b62965ba2c010b82dd">ec_pdo_list_print</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a38e76d6856ae5035b91bf5b0850218ad">sync</a>-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    printk(<span class="stringliteral">&quot;. PDOs to assign: &quot;</span>);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <a class="code" href="pdo__list_8c.html#a75bc7cee35f668b62965ba2c010b82dd">ec_pdo_list_print</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    printk(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="fsm__pdo_8h.html#ace621d0396015a8cf1b820eee080855e">  119</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a38161765844e834ee5c0ed6aeca8321f">ec_fsm_pdo_start_reading</a>(</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="structec__slave.html">ec_slave_t</a> *slave </div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        )</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;{</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a> = slave;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a3400d841b7b7dc298c0d2698a910d063">ec_fsm_pdo_read_state_start</a>;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="fsm__pdo_8h.html#a03752ef4c9c2ddaf9074e08e777e66cb">  132</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a45673c0ffcb4f251696b30fc86288253">ec_fsm_pdo_start_configuration</a>(</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <a class="code" href="structec__slave.html">ec_slave_t</a> *slave </div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        )</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;{</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a> = slave;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#ae431cbfd699fdf7e875a347a771adc2a">ec_fsm_pdo_conf_state_start</a>;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a88ff25e3668c0fa820a93d2e607e0a33">  147</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__pdo_8c.html#a88ff25e3668c0fa820a93d2e607e0a33">ec_fsm_pdo_running</a>(</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm </div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        )</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;{</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">return</span> fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> != <a class="code" href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">ec_fsm_pdo_state_end</a></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> != <a class="code" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;}</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="fsm__pdo_8h.html#a8cce6186384635f1b22bd858a2e3904c">  164</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__pdo_8c.html#ad90d47e84f43b419017a9db1fc75c4cf">ec_fsm_pdo_exec</a>(</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        )</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;{</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a>(fsm, datagram);</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="fsm__pdo_8c.html#a88ff25e3668c0fa820a93d2e607e0a33">ec_fsm_pdo_running</a>(fsm);</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="fsm__pdo_8h.html#a89becd875564ec7524991e4e0b7ddd3e">  180</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__pdo_8c.html#adeb03e520938d50c3adb3b15b8a7801c">ec_fsm_pdo_success</a>(</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm </div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        )</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;{</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordflow">return</span> fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> == <a class="code" href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">ec_fsm_pdo_state_end</a>;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;}</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment"> * Reading state funtions.</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a3400d841b7b7dc298c0d2698a910d063">  193</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a3400d841b7b7dc298c0d2698a910d063">ec_fsm_pdo_read_state_start</a>(</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        )</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;{</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="comment">// read PDO assignment for first sync manager not reserved for mailbox</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a> = 1; <span class="comment">// next is 2</span></div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">  207</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        )</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;{</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>++;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">for</span> (; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a> &lt; <a class="code" href="group__ApplicationInterface.html#gab737cd2955a397ebd0df13e9148cec9f">EC_MAX_SYNC_MANAGERS</a>; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>++) {</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordflow">if</span> (!(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a38e76d6856ae5035b91bf5b0850218ad">sync</a> = <a class="code" href="slave_8c.html#a0a1f1035888d33dcd86a5ca5a5f3acc2">ec_slave_get_sync</a>(slave, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>)))</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Reading PDO assignment of SM%u.\n&quot;</span>,</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <a class="code" href="pdo__list_8c.html#aff8b6a50972c7106457f0db17fbeaf6c">ec_pdo_list_clear_pdos</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gae002eb267f69d91de0c83a5f4f349372">ecrt_sdo_request_index</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>, 0x1C10 + fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>, 0);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <a class="code" href="group__ApplicationInterface.html#ga883e43ca2b29e73ac5ec5dec214487b2">ecrt_sdo_request_read</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a2bc12f676c54517fbedcc0d1dfd1641e">ec_fsm_pdo_read_state_pdo_count</a>;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <a class="code" href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    }</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Reading of PDO configuration finished.\n&quot;</span>);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <a class="code" href="pdo__list_8c.html#aff8b6a50972c7106457f0db17fbeaf6c">ec_pdo_list_clear_pdos</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>);</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">ec_fsm_pdo_state_end</a>;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;}</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a2bc12f676c54517fbedcc0d1dfd1641e">  243</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a2bc12f676c54517fbedcc0d1dfd1641e">ec_fsm_pdo_read_state_pdo_count</a>(</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        )</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;{</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram)) {</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    }</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__coe_8c.html#a64003637666ff3dabeef48b99b42255c">ec_fsm_coe_success</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>)) {</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Failed to read number of assigned PDOs&quot;</span></div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                <span class="stringliteral">&quot; for SM%u.\n&quot;</span>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    }</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#a9a094314f738ed0fdf4b46f4bd37dfe9">data_size</a> != <span class="keyword">sizeof</span>(uint8_t)) {</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Invalid data size %zu returned&quot;</span></div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                <span class="stringliteral">&quot; when uploading SDO 0x%04X:%02X.\n&quot;</span>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#a9a094314f738ed0fdf4b46f4bd37dfe9">data_size</a>,</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#ad8ef54b4c7495a17c81eabff59e079fd">index</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#af3b7a335ce659260bed0d04f90ba9e4a">subindex</a>);</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a60d790b9858292f2229115dabc994c08">pdo_count</a> = <a class="code" href="group__ApplicationInterface.html#gabfd606064b98475fc6cbe52aea6b5133">EC_READ_U8</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#aa1f9c68c95c5fde23ed0807abf884b08">data</a>);</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1, <span class="stringliteral">&quot;%u PDOs assigned.\n&quot;</span>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a60d790b9858292f2229115dabc994c08">pdo_count</a>);</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="comment">// read first PDO</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a> = 1;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a42248b22b855e24ed26eda0062138c37">ec_fsm_pdo_read_action_next_pdo</a>(fsm, datagram);</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;}</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div><div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a42248b22b855e24ed26eda0062138c37">  279</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a42248b22b855e24ed26eda0062138c37">ec_fsm_pdo_read_action_next_pdo</a>(</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        )</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;{</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a> &lt;= fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a60d790b9858292f2229115dabc994c08">pdo_count</a>) {</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gae002eb267f69d91de0c83a5f4f349372">ecrt_sdo_request_index</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>, 0x1C10 + fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>,</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>);</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <a class="code" href="group__ApplicationInterface.html#ga883e43ca2b29e73ac5ec5dec214487b2">ecrt_sdo_request_read</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a3d1b9fe3c9f3e7885347faaf09bcf1e1">ec_fsm_pdo_read_state_pdo</a>;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <a class="code" href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    }</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="comment">// finished reading PDO configuration</span></div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <a class="code" href="pdo__list_8c.html#accc8112633a4b76efe8df355d1ad0ec8">ec_pdo_list_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a38e76d6856ae5035b91bf5b0850218ad">sync</a>-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>);</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <a class="code" href="pdo__list_8c.html#aff8b6a50972c7106457f0db17fbeaf6c">ec_pdo_list_clear_pdos</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>);</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="comment">// next sync manager</span></div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;}</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div><div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a3d1b9fe3c9f3e7885347faaf09bcf1e1">  307</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a3d1b9fe3c9f3e7885347faaf09bcf1e1">ec_fsm_pdo_read_state_pdo</a>(</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        )</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;{</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram)) {</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    }</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__coe_8c.html#a64003637666ff3dabeef48b99b42255c">ec_fsm_coe_success</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>)) {</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Failed to read index of&quot;</span></div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                <span class="stringliteral">&quot; assigned PDO %u from SM%u.\n&quot;</span>,</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    }</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#a9a094314f738ed0fdf4b46f4bd37dfe9">data_size</a> != <span class="keyword">sizeof</span>(uint16_t)) {</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Invalid data size %zu returned&quot;</span></div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;                <span class="stringliteral">&quot; when uploading SDO 0x%04X:%02X.\n&quot;</span>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#a9a094314f738ed0fdf4b46f4bd37dfe9">data_size</a>,</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#ad8ef54b4c7495a17c81eabff59e079fd">index</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#af3b7a335ce659260bed0d04f90ba9e4a">subindex</a>);</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    }</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordflow">if</span> (!(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a> = (<a class="code" href="structec__pdo__t.html">ec_pdo_t</a> *)</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;                kmalloc(<span class="keyword">sizeof</span>(<a class="code" href="structec__pdo__t.html">ec_pdo_t</a>), GFP_KERNEL))) {</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Failed to allocate PDO.\n&quot;</span>);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    }</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <a class="code" href="pdo_8c.html#a0766e8e7b4f607aa3b8ce3320198c23b">ec_pdo_init</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>);</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a> = <a class="code" href="group__ApplicationInterface.html#gaa78148947379983986940d1980ac3db1">EC_READ_U16</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#aa1f9c68c95c5fde23ed0807abf884b08">data</a>);</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ade04e761df137353930d271ed34120c9">sync_index</a> = fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1, <span class="stringliteral">&quot;PDO 0x%04X.\n&quot;</span>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>);</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    list_add_tail(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#aa7e6a0e0405c93414052c6d998d604ad">list</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>.<a class="code" href="structec__pdo__list__t.html#a7889b3f485d92c496fd15e45573cae21">list</a>);</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a6676f274857f9bd450f5f74053d79eff">ec_fsm_pdo_read_state_pdo_entries</a>;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <a class="code" href="fsm__pdo__entry_8c.html#a45b02eb267b7a6ca3307cd23f673c945">ec_fsm_pdo_entry_start_reading</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>);</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a>(fsm, datagram); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;}</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;</div><div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a6676f274857f9bd450f5f74053d79eff">  356</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a6676f274857f9bd450f5f74053d79eff">ec_fsm_pdo_read_state_pdo_entries</a>(</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        )</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;{</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__pdo__entry_8c.html#a3ff64581aa828daf9ba6baccf577e808">ec_fsm_pdo_entry_exec</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>, datagram)) {</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    }</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__pdo__entry_8c.html#a9cf110dbdb0ddf854410f572b5a310e3">ec_fsm_pdo_entry_success</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>)) {</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Failed to read mapped PDO entries&quot;</span></div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;                <span class="stringliteral">&quot; for PDO 0x%04X.\n&quot;</span>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>);</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    }</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="comment">// next PDO</span></div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>++;</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a42248b22b855e24ed26eda0062138c37">ec_fsm_pdo_read_action_next_pdo</a>(fsm, datagram);</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;}</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="comment"> * Writing state functions.</span></div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;</div><div class="line"><a name="l00383"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#ae431cbfd699fdf7e875a347a771adc2a">  383</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#ae431cbfd699fdf7e875a347a771adc2a">ec_fsm_pdo_conf_state_start</a>(</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        )</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;{</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) {</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">ec_fsm_pdo_state_end</a>;</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    }</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a> = 1; <span class="comment">// next is 2</span></div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">ec_fsm_pdo_conf_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;}</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;</div><div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a70621bc4964ac8f972294656425216e7">  403</a></span>&#160;<a class="code" href="structec__pdo__t.html">ec_pdo_t</a> *<a class="code" href="fsm__pdo_8c.html#a70621bc4964ac8f972294656425216e7">ec_fsm_pdo_conf_action_next_pdo</a>(</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        <span class="keyword">const</span> <span class="keyword">struct</span> list_head *list </div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        )</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;{</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    list = list-&gt;next;</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="keywordflow">if</span> (list == &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>.<a class="code" href="structec__pdo__list__t.html#a7889b3f485d92c496fd15e45573cae21">list</a>)</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        <span class="keywordflow">return</span> NULL; <span class="comment">// no next PDO</span></div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">return</span> list_entry(list, <a class="code" href="structec__pdo__t.html">ec_pdo_t</a>, list);</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;}</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;</div><div class="line"><a name="l00418"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">  418</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">ec_fsm_pdo_conf_action_next_sync</a>(</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        )</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;{</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>++;</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordflow">for</span> (; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a> &lt; <a class="code" href="group__ApplicationInterface.html#gab737cd2955a397ebd0df13e9148cec9f">EC_MAX_SYNC_MANAGERS</a>; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>++) {</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) {</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;            <span class="comment">// slave configuration removed in the meantime</span></div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a>;</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        }</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="pdo__list_8c.html#accc8112633a4b76efe8df355d1ad0ec8">ec_pdo_list_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>,</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;                    &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#a28bf292a581f2af8696f41fa333ba0f3">sync_configs</a>[fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>].<a class="code" href="structec__sync__config__t.html#ae70642198065ad0381dacdfa21fcebaa">pdos</a>))</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        {</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a>;</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        }</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        <span class="keywordflow">if</span> (!(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a38e76d6856ae5035b91bf5b0850218ad">sync</a> = <a class="code" href="slave_8c.html#a0a1f1035888d33dcd86a5ca5a5f3acc2">ec_slave_get_sync</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>))) {</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;            <span class="keywordflow">if</span> (!list_empty(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>.<a class="code" href="structec__pdo__list__t.html#a7889b3f485d92c496fd15e45573cae21">list</a>))</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;                <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;PDOs configured for SM%u,&quot;</span></div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;                        <span class="stringliteral">&quot; but slave does not provide the&quot;</span></div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;                        <span class="stringliteral">&quot; sync manager information!\n&quot;</span>,</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;                        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;            <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        }</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        <span class="comment">// get first configured PDO</span></div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <span class="keywordflow">if</span> (!(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a> =</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                    <a class="code" href="fsm__pdo_8c.html#a70621bc4964ac8f972294656425216e7">ec_fsm_pdo_conf_action_next_pdo</a>(fsm, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>.<a class="code" href="structec__pdo__list__t.html#a7889b3f485d92c496fd15e45573cae21">list</a>))) {</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;            <span class="comment">// no pdos configured</span></div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;            <a class="code" href="fsm__pdo_8c.html#a9669ea3ae334cee2b0a76bfa3b540767">ec_fsm_pdo_conf_action_check_assignment</a>(fsm, datagram);</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        }</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a9500b76d61e46b2e6906d21d93eb42b0">ec_fsm_pdo_conf_action_pdo_mapping</a>(fsm, datagram);</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    }</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">ec_fsm_pdo_state_end</a>;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;}</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;</div><div class="line"><a name="l00467"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a9500b76d61e46b2e6906d21d93eb42b0">  467</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a9500b76d61e46b2e6906d21d93eb42b0">ec_fsm_pdo_conf_action_pdo_mapping</a>(</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        )</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;{</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    <span class="keyword">const</span> <a class="code" href="structec__pdo__t.html">ec_pdo_t</a> *assigned_pdo;</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>.<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a> = fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>;</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keywordflow">if</span> ((assigned_pdo = <a class="code" href="slave_8c.html#a52b38cde64ab24790c1a987fa2eac9f5">ec_slave_find_pdo</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>))) {</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        <a class="code" href="pdo_8c.html#a31ae386c7c51b495354db61f08e019a3">ec_pdo_copy_entries</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>, assigned_pdo);</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    } <span class="keywordflow">else</span> { <span class="comment">// configured PDO is not assigned and thus unknown</span></div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        <a class="code" href="pdo_8c.html#a399136c28e710fa96af02e46c0351dbb">ec_pdo_clear_entries</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>);</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    }</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="keywordflow">if</span> (list_empty(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>.<a class="code" href="structec__pdo__t.html#aaac321c4f80081e5f69e2ff30eac80e5">entries</a>)) {</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1, <span class="stringliteral">&quot;Reading mapping of PDO 0x%04X.\n&quot;</span>,</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>);</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        <span class="comment">// pdo mapping is unknown; start loading it</span></div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        <a class="code" href="fsm__pdo__entry_8c.html#a45b02eb267b7a6ca3307cd23f673c945">ec_fsm_pdo_entry_start_reading</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>,</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;                &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>);</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a86d7941eeb21995e622dc8fc910107c4">ec_fsm_pdo_conf_state_read_mapping</a>;</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a>(fsm, datagram); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    }</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <span class="comment">// pdo mapping is known, check if it most be re-configured</span></div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <a class="code" href="fsm__pdo_8c.html#adf6b32f9717d783f066feb2268317387">ec_fsm_pdo_conf_action_check_mapping</a>(fsm, datagram);</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;}</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;</div><div class="line"><a name="l00502"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a86d7941eeb21995e622dc8fc910107c4">  502</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a86d7941eeb21995e622dc8fc910107c4">ec_fsm_pdo_conf_state_read_mapping</a>(</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;        )</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;{</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__pdo__entry_8c.html#a3ff64581aa828daf9ba6baccf577e808">ec_fsm_pdo_entry_exec</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>, datagram)) {</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    }</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__pdo__entry_8c.html#a9cf110dbdb0ddf854410f572b5a310e3">ec_fsm_pdo_entry_success</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>))</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>,</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;                <span class="stringliteral">&quot;Failed to read PDO entries for PDO 0x%04X.\n&quot;</span>,</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>);</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    <span class="comment">// check if the mapping must be re-configured</span></div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    <a class="code" href="fsm__pdo_8c.html#adf6b32f9717d783f066feb2268317387">ec_fsm_pdo_conf_action_check_mapping</a>(fsm, datagram);</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;}</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;</div><div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#adf6b32f9717d783f066feb2268317387">  526</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#adf6b32f9717d783f066feb2268317387">ec_fsm_pdo_conf_action_check_mapping</a>(</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;        )</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;{</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    <span class="comment">// check, if slave supports PDO configuration</span></div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    <span class="keywordflow">if</span> ((fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a7740732efd267741b956b8912502d8a1">mailbox_protocols</a> &amp; <a class="code" href="globals_8h.html#adf764cbdea00d65edcd07bb9953ad2b7a228d7270dad743f55f7d42719e406076">EC_MBOX_COE</a>)</div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;            &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#ac9a082bcb14f1d40aa7a2ee278a4a912">has_general</a></div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;            &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a7896df4d79afdb971b9817d41fbb847e">coe_details</a>.<a class="code" href="structec__sii__coe__details__t.html#acefe917c36bc9c0fc0ff931fcbabc211">enable_pdo_configuration</a>) {</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        <span class="comment">// always write PDO mapping</span></div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;        <a class="code" href="fsm__pdo__entry_8c.html#a74763c3c16724f3cb5822c62460b2014">ec_fsm_pdo_entry_start_configuration</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>,</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>);</div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a6de72a51b22c6d2aa98f0aa1f23a30bc">ec_fsm_pdo_conf_state_mapping</a>;</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a>(fsm, datagram); <span class="comment">// execure immediately</span></div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    }</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!<a class="code" href="pdo_8c.html#a17ae4ccdd1aa4cfb9748b89ee9cbbfd0">ec_pdo_equal_entries</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>)) {</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Slave does not support&quot;</span></div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;                <span class="stringliteral">&quot; changing the PDO mapping!\n&quot;</span>);</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;&quot;</span>);</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        printk(<span class="stringliteral">&quot;Currently mapped PDO entries: &quot;</span>);</div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;        <a class="code" href="pdo_8c.html#a4009041a62d3844c85987c25ecaaf78f">ec_pdo_print_entries</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">slave_pdo</a>);</div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;        printk(<span class="stringliteral">&quot;. Entries to map: &quot;</span>);</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        <a class="code" href="pdo_8c.html#a4009041a62d3844c85987c25ecaaf78f">ec_pdo_print_entries</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>);</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;        printk(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    }</div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    <a class="code" href="fsm__pdo_8c.html#ac0e2b8e960f8251fd995942684816dfe">ec_fsm_pdo_conf_action_next_pdo_mapping</a>(fsm, datagram);</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;}</div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;</div><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;</div><div class="line"><a name="l00561"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a6de72a51b22c6d2aa98f0aa1f23a30bc">  561</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a6de72a51b22c6d2aa98f0aa1f23a30bc">ec_fsm_pdo_conf_state_mapping</a>(</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        )</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;{</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__pdo__entry_8c.html#a3ff64581aa828daf9ba6baccf577e808">ec_fsm_pdo_entry_exec</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>, datagram)) {</div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;    }</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__pdo__entry_8c.html#a9cf110dbdb0ddf854410f572b5a310e3">ec_fsm_pdo_entry_success</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">fsm_pdo_entry</a>))</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>,</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;                <span class="stringliteral">&quot;Failed to configure mapping of PDO 0x%04X.\n&quot;</span>,</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>);</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    <a class="code" href="fsm__pdo_8c.html#ac0e2b8e960f8251fd995942684816dfe">ec_fsm_pdo_conf_action_next_pdo_mapping</a>(fsm, datagram);</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;}</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;</div><div class="line"><a name="l00582"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#ac0e2b8e960f8251fd995942684816dfe">  582</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#ac0e2b8e960f8251fd995942684816dfe">ec_fsm_pdo_conf_action_next_pdo_mapping</a>(</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;        )</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;{</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;    <span class="comment">// get next configured PDO</span></div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <span class="keywordflow">if</span> (!(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a> = <a class="code" href="fsm__pdo_8c.html#a70621bc4964ac8f972294656425216e7">ec_fsm_pdo_conf_action_next_pdo</a>(fsm, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#aa7e6a0e0405c93414052c6d998d604ad">list</a>))) {</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;        <span class="comment">// no more configured pdos</span></div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a9669ea3ae334cee2b0a76bfa3b540767">ec_fsm_pdo_conf_action_check_assignment</a>(fsm, datagram);</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;    }</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a9500b76d61e46b2e6906d21d93eb42b0">ec_fsm_pdo_conf_action_pdo_mapping</a>(fsm, datagram);</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;}</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;</div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;</div><div class="line"><a name="l00601"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a9669ea3ae334cee2b0a76bfa3b540767">  601</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a9669ea3ae334cee2b0a76bfa3b540767">ec_fsm_pdo_conf_action_check_assignment</a>(</div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;        )</div><div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;{</div><div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;    <span class="keywordflow">if</span> ((fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a7740732efd267741b956b8912502d8a1">mailbox_protocols</a> &amp; <a class="code" href="globals_8h.html#adf764cbdea00d65edcd07bb9953ad2b7a228d7270dad743f55f7d42719e406076">EC_MBOX_COE</a>)</div><div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;            &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#ac9a082bcb14f1d40aa7a2ee278a4a912">has_general</a></div><div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;            &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a7896df4d79afdb971b9817d41fbb847e">coe_details</a>.<a class="code" href="structec__sii__coe__details__t.html#a30ce481a3965c5bc1737918e3cbe6d63">enable_pdo_assign</a>) {</div><div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;</div><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;        <span class="comment">// always write PDO assignment</span></div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;        <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>-&gt;<a class="code" href="structec__slave.html#ae3ca485627d212610814bf4e0130eddd">master</a>-&gt;<a class="code" href="structec__master.html#abdecf290f3f7f2af1b2a7bf0d9c7b08d">debug_level</a>) {</div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1, <span class="stringliteral">&quot;Setting PDO assignment of SM%u:\n&quot;</span>,</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;                    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1, <span class="stringliteral">&quot;&quot;</span>); <a class="code" href="fsm__pdo_8c.html#ab82b16e9e90a718617989b1046a825da">ec_fsm_pdo_print</a>(fsm);</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;        }</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="sdo__request_8c.html#a2f1e920bf54c7826a9747beae685caf4">ec_sdo_request_alloc</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>, 2)) {</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a>;</div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;        }</div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;</div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;        <span class="comment">// set mapped PDO count to zero</span></div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;        <a class="code" href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#aa1f9c68c95c5fde23ed0807abf884b08">data</a>, 0); <span class="comment">// zero PDOs mapped</span></div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#a9a094314f738ed0fdf4b46f4bd37dfe9">data_size</a> = 1;</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gae002eb267f69d91de0c83a5f4f349372">ecrt_sdo_request_index</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>, 0x1C10 + fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>, 0);</div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gaf0e5a35aa54d971d75a6d00c148ffa83">ecrt_sdo_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1, <span class="stringliteral">&quot;Setting number of assigned&quot;</span></div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;                <span class="stringliteral">&quot; PDOs to zero.\n&quot;</span>);</div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a61d6727b2003591ecc4d493312321028">ec_fsm_pdo_conf_state_zero_pdo_count</a>;</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        <a class="code" href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;        <a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    }</div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!<a class="code" href="pdo__list_8c.html#ac05fc5ee2cf2afdf8b8501ef194c4002">ec_pdo_list_equal</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a38e76d6856ae5035b91bf5b0850218ad">sync</a>-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>)) {</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Slave does not support assigning PDOs!\n&quot;</span>);</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;&quot;</span>); <a class="code" href="fsm__pdo_8c.html#ab82b16e9e90a718617989b1046a825da">ec_fsm_pdo_print</a>(fsm);</div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    }</div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">ec_fsm_pdo_conf_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;}</div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;</div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;</div><div class="line"><a name="l00648"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a61d6727b2003591ecc4d493312321028">  648</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a61d6727b2003591ecc4d493312321028">ec_fsm_pdo_conf_state_zero_pdo_count</a>(</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;        )</div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;{</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram)) {</div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    }</div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;</div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__coe_8c.html#a64003637666ff3dabeef48b99b42255c">ec_fsm_coe_success</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>)) {</div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Failed to clear PDO assignment of SM%u.\n&quot;</span>,</div><div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;&quot;</span>);</div><div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;        <a class="code" href="fsm__pdo_8c.html#ab82b16e9e90a718617989b1046a825da">ec_fsm_pdo_print</a>(fsm);</div><div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">ec_fsm_pdo_conf_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;    }</div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;</div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;    <span class="comment">// the sync manager&#39;s assigned PDOs have been cleared</span></div><div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    <a class="code" href="pdo__list_8c.html#aff8b6a50972c7106457f0db17fbeaf6c">ec_pdo_list_clear_pdos</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a38e76d6856ae5035b91bf5b0850218ad">sync</a>-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>);</div><div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;</div><div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    <span class="comment">// assign all PDOs belonging to the current sync manager</span></div><div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;</div><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;    <span class="comment">// find first PDO</span></div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    <span class="keywordflow">if</span> (!(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a> = <a class="code" href="fsm__pdo_8c.html#a70621bc4964ac8f972294656425216e7">ec_fsm_pdo_conf_action_next_pdo</a>(fsm, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>.<a class="code" href="structec__pdo__list__t.html#a7889b3f485d92c496fd15e45573cae21">list</a>))) {</div><div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;        <span class="comment">// check for mapping to be altered</span></div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;        <a class="code" href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">ec_fsm_pdo_conf_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;    }</div><div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;</div><div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;    <span class="comment">// assign first PDO</span></div><div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a> = 1;</div><div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a935c62948338bf55beef8ea894d869a1">ec_fsm_pdo_conf_action_assign_pdo</a>(fsm, datagram);</div><div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;}</div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;</div><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;</div><div class="line"><a name="l00687"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a935c62948338bf55beef8ea894d869a1">  687</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a935c62948338bf55beef8ea894d869a1">ec_fsm_pdo_conf_action_assign_pdo</a>(</div><div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;        )</div><div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;{</div><div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#aa1f9c68c95c5fde23ed0807abf884b08">data</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>);</div><div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#a9a094314f738ed0fdf4b46f4bd37dfe9">data_size</a> = 2;</div><div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gae002eb267f69d91de0c83a5f4f349372">ecrt_sdo_request_index</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>,</div><div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;            0x1C10 + fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>);</div><div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gaf0e5a35aa54d971d75a6d00c148ffa83">ecrt_sdo_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;</div><div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1, <span class="stringliteral">&quot;Assigning PDO 0x%04X at position %u.\n&quot;</span>,</div><div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>);</div><div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;</div><div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a9a09b501ea734575d8761766f7a2c798">ec_fsm_pdo_conf_state_assign_pdo</a>;</div><div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;    <a class="code" href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;    <a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;}</div><div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;</div><div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;</div><div class="line"><a name="l00710"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a9a09b501ea734575d8761766f7a2c798">  710</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a9a09b501ea734575d8761766f7a2c798">ec_fsm_pdo_conf_state_assign_pdo</a>(</div><div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;        )</div><div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;{</div><div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram)) {</div><div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;    }</div><div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;</div><div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__coe_8c.html#a64003637666ff3dabeef48b99b42255c">ec_fsm_coe_success</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>)) {</div><div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Failed to assign PDO 0x%04X at position %u&quot;</span></div><div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;                <span class="stringliteral">&quot; of SM%u.\n&quot;</span>,</div><div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">index</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;&quot;</span>); <a class="code" href="fsm__pdo_8c.html#ab82b16e9e90a718617989b1046a825da">ec_fsm_pdo_print</a>(fsm);</div><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a>;</div><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;    }</div><div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;</div><div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;    <span class="comment">// find next PDO</span></div><div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;    <span class="keywordflow">if</span> (!(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a> = <a class="code" href="fsm__pdo_8c.html#a70621bc4964ac8f972294656425216e7">ec_fsm_pdo_conf_action_next_pdo</a>(fsm, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">pdo</a>-&gt;<a class="code" href="structec__pdo__t.html#aa7e6a0e0405c93414052c6d998d604ad">list</a>))) {</div><div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;        <span class="comment">// no more PDOs to assign, set PDO count</span></div><div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;        <a class="code" href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#aa1f9c68c95c5fde23ed0807abf884b08">data</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>);</div><div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>.<a class="code" href="structec__sdo__request.html#a9a094314f738ed0fdf4b46f4bd37dfe9">data_size</a> = 1;</div><div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gae002eb267f69d91de0c83a5f4f349372">ecrt_sdo_request_index</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>, 0x1C10 + fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>, 0);</div><div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gaf0e5a35aa54d971d75a6d00c148ffa83">ecrt_sdo_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;</div><div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1,</div><div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;                <span class="stringliteral">&quot;Setting number of assigned PDOs to %u.\n&quot;</span>,</div><div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>);</div><div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;</div><div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#a9a9154e743c691ee85355e155ae0f8ff">ec_fsm_pdo_conf_state_set_pdo_count</a>;</div><div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;        <a class="code" href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">request</a>);</div><div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;        <a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;    }</div><div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;</div><div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;    <span class="comment">// add next PDO to assignment</span></div><div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">pdo_pos</a>++;</div><div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a935c62948338bf55beef8ea894d869a1">ec_fsm_pdo_conf_action_assign_pdo</a>(fsm, datagram);</div><div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;}</div><div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;</div><div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;</div><div class="line"><a name="l00755"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#a9a9154e743c691ee85355e155ae0f8ff">  755</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#a9a9154e743c691ee85355e155ae0f8ff">ec_fsm_pdo_conf_state_set_pdo_count</a>(</div><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;        )</div><div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;{</div><div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>, datagram)) {</div><div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;    }</div><div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;</div><div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__coe_8c.html#a64003637666ff3dabeef48b99b42255c">ec_fsm_coe_success</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">fsm_coe</a>)) {</div><div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;Failed to set number of&quot;</span></div><div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;                <span class="stringliteral">&quot; assigned PDOs of SM%u.\n&quot;</span>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, <span class="stringliteral">&quot;&quot;</span>); <a class="code" href="fsm__pdo_8c.html#ab82b16e9e90a718617989b1046a825da">ec_fsm_pdo_print</a>(fsm);</div><div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">state</a> = <a class="code" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a>;</div><div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;    }</div><div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;</div><div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;    <span class="comment">// PDOs have been configured</span></div><div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;    <a class="code" href="pdo__list_8c.html#accc8112633a4b76efe8df355d1ad0ec8">ec_pdo_list_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a38e76d6856ae5035b91bf5b0850218ad">sync</a>-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">pdos</a>);</div><div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;</div><div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">slave</a>, 1, <span class="stringliteral">&quot;Successfully configured&quot;</span></div><div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;            <span class="stringliteral">&quot; PDO assignment of SM%u.\n&quot;</span>, fsm-&gt;<a class="code" href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">sync_index</a>);</div><div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;</div><div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;    <span class="comment">// check if PDO mapping has to be altered</span></div><div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">ec_fsm_pdo_conf_action_next_sync</a>(fsm, datagram);</div><div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;}</div><div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;</div><div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;<span class="comment"> * Common state functions</span></div><div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;</div><div class="line"><a name="l00788"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">  788</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a>(</div><div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;        )</div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;{</div><div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;}</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;</div><div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;</div><div class="line"><a name="l00799"></a><span class="lineno"><a class="line" href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">  799</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">ec_fsm_pdo_state_end</a>(</div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm, </div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;        )</div><div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;{</div><div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;}</div><div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;</div><div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="ttc" id="structec__fsm__pdo_html_aa7bdf199bd64fa5dadb0501d63c281a2"><div class="ttname"><a href="structec__fsm__pdo.html#aa7bdf199bd64fa5dadb0501d63c281a2">ec_fsm_pdo::state</a></div><div class="ttdeci">void(* state)(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">State function. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00056">fsm_pdo.h:56</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a9a09b501ea734575d8761766f7a2c798"><div class="ttname"><a href="fsm__pdo_8c.html#a9a09b501ea734575d8761766f7a2c798">ec_fsm_pdo_conf_state_assign_pdo</a></div><div class="ttdeci">void ec_fsm_pdo_conf_state_assign_pdo(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Add a PDO to the sync managers PDO assignment. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00710">fsm_pdo.c:710</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a42248b22b855e24ed26eda0062138c37"><div class="ttname"><a href="fsm__pdo_8c.html#a42248b22b855e24ed26eda0062138c37">ec_fsm_pdo_read_action_next_pdo</a></div><div class="ttdeci">void ec_fsm_pdo_read_action_next_pdo(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Read next PDO. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00279">fsm_pdo.c:279</a></div></div>
<div class="ttc" id="structec__slave_html_a081433f5a30f9352fbc4363093ae1e16"><div class="ttname"><a href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">ec_slave::sii</a></div><div class="ttdeci">ec_sii_t sii</div><div class="ttdoc">Extracted SII data. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00223">slave.h:223</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_ad90d47e84f43b419017a9db1fc75c4cf"><div class="ttname"><a href="fsm__pdo_8c.html#ad90d47e84f43b419017a9db1fc75c4cf">ec_fsm_pdo_exec</a></div><div class="ttdeci">int ec_fsm_pdo_exec(ec_fsm_pdo_t *fsm, ec_datagram_t *datagram)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00164">fsm_pdo.c:164</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_a437105cab7019aad6aed6d5cf6326e4a"><div class="ttname"><a href="structec__fsm__pdo.html#a437105cab7019aad6aed6d5cf6326e4a">ec_fsm_pdo::request</a></div><div class="ttdeci">ec_sdo_request_t request</div><div class="ttdoc">SDO request. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00060">fsm_pdo.h:60</a></div></div>
<div class="ttc" id="globals_8h_html_adf764cbdea00d65edcd07bb9953ad2b7a228d7270dad743f55f7d42719e406076"><div class="ttname"><a href="globals_8h.html#adf764cbdea00d65edcd07bb9953ad2b7a228d7270dad743f55f7d42719e406076">EC_MBOX_COE</a></div><div class="ttdoc">CANopen over EtherCAT. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00149">globals.h:149</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a86d7941eeb21995e622dc8fc910107c4"><div class="ttname"><a href="fsm__pdo_8c.html#a86d7941eeb21995e622dc8fc910107c4">ec_fsm_pdo_conf_state_read_mapping</a></div><div class="ttdeci">void ec_fsm_pdo_conf_state_read_mapping(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Execute the PDO entry state machine to read the current PDO&amp;#39;s mapping. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00502">fsm_pdo.c:502</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a33e63b8e6243d3c5c2fa6913c7606a10"><div class="ttname"><a href="fsm__pdo_8c.html#a33e63b8e6243d3c5c2fa6913c7606a10">ec_fsm_pdo_conf_action_next_sync</a></div><div class="ttdeci">void ec_fsm_pdo_conf_action_next_sync(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Get the next sync manager for a pdo configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00418">fsm_pdo.c:418</a></div></div>
<div class="ttc" id="slave_8h_html_a349fb5dcd0bac7fc2324d3da89aa4751"><div class="ttname"><a href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a></div><div class="ttdeci">#define EC_SLAVE_DBG(slave, level, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific debug messages to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00106">slave.h:106</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a45673c0ffcb4f251696b30fc86288253"><div class="ttname"><a href="fsm__pdo_8c.html#a45673c0ffcb4f251696b30fc86288253">ec_fsm_pdo_start_configuration</a></div><div class="ttdeci">void ec_fsm_pdo_start_configuration(ec_fsm_pdo_t *fsm, ec_slave_t *slave)</div><div class="ttdoc">Start writing the PDO configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00132">fsm_pdo.c:132</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a3400d841b7b7dc298c0d2698a910d063"><div class="ttname"><a href="fsm__pdo_8c.html#a3400d841b7b7dc298c0d2698a910d063">ec_fsm_pdo_read_state_start</a></div><div class="ttdeci">void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Start reading PDO assignment. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00193">fsm_pdo.c:193</a></div></div>
<div class="ttc" id="pdo__list_8c_html_a75bc7cee35f668b62965ba2c010b82dd"><div class="ttname"><a href="pdo__list_8c.html#a75bc7cee35f668b62965ba2c010b82dd">ec_pdo_list_print</a></div><div class="ttdeci">void ec_pdo_list_print(const ec_pdo_list_t *pl)</div><div class="ttdoc">Outputs the PDOs in the list. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00329">pdo_list.c:329</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a9a9154e743c691ee85355e155ae0f8ff"><div class="ttname"><a href="fsm__pdo_8c.html#a9a9154e743c691ee85355e155ae0f8ff">ec_fsm_pdo_conf_state_set_pdo_count</a></div><div class="ttdeci">void ec_fsm_pdo_conf_state_set_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Set the number of assigned PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00755">fsm_pdo.c:755</a></div></div>
<div class="ttc" id="pdo__list_8c_html_accc8112633a4b76efe8df355d1ad0ec8"><div class="ttname"><a href="pdo__list_8c.html#accc8112633a4b76efe8df355d1ad0ec8">ec_pdo_list_copy</a></div><div class="ttdeci">int ec_pdo_list_copy(ec_pdo_list_t *pl, const ec_pdo_list_t *other)</div><div class="ttdoc">Makes a deep copy of another PDO list. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00177">pdo_list.c:177</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_ab82b16e9e90a718617989b1046a825da"><div class="ttname"><a href="fsm__pdo_8c.html#ab82b16e9e90a718617989b1046a825da">ec_fsm_pdo_print</a></div><div class="ttdeci">void ec_fsm_pdo_print(ec_fsm_pdo_t *fsm)</div><div class="ttdoc">Print the current and desired PDO assignment. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00104">fsm_pdo.c:104</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_a659ca1e17ea96e9be327dd65eea054e4"><div class="ttname"><a href="structec__fsm__pdo.html#a659ca1e17ea96e9be327dd65eea054e4">ec_fsm_pdo::slave</a></div><div class="ttdeci">ec_slave_t * slave</div><div class="ttdoc">Slave the FSM runs on. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00063">fsm_pdo.h:63</a></div></div>
<div class="ttc" id="slave_8h_html_aae2995e6509df66255d8f7fcdb5eb5bb"><div class="ttname"><a href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a></div><div class="ttdeci">#define EC_SLAVE_WARN(slave, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific warnings to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00090">slave.h:90</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_a437d446a8f8d784d8622ed302b3d51a1"><div class="ttname"><a href="structec__fsm__pdo.html#a437d446a8f8d784d8622ed302b3d51a1">ec_fsm_pdo::pdo</a></div><div class="ttdeci">ec_pdo_t * pdo</div><div class="ttdoc">Current PDO. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00066">fsm_pdo.h:66</a></div></div>
<div class="ttc" id="pdo__list_8c_html_a30f05a34cf44b4d4f5bd47db39addb95"><div class="ttname"><a href="pdo__list_8c.html#a30f05a34cf44b4d4f5bd47db39addb95">ec_pdo_list_clear</a></div><div class="ttdeci">void ec_pdo_list_clear(ec_pdo_list_t *pl)</div><div class="ttdoc">PDO list destructor. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00061">pdo_list.c:61</a></div></div>
<div class="ttc" id="structec__datagram__t_html"><div class="ttname"><a href="structec__datagram__t.html">ec_datagram_t</a></div><div class="ttdoc">EtherCAT datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00087">datagram.h:87</a></div></div>
<div class="ttc" id="structec__pdo__list__t_html_a7889b3f485d92c496fd15e45573cae21"><div class="ttname"><a href="structec__pdo__list__t.html#a7889b3f485d92c496fd15e45573cae21">ec_pdo_list_t::list</a></div><div class="ttdeci">struct list_head list</div><div class="ttdoc">List of PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8h_source.html#l00050">pdo_list.h:50</a></div></div>
<div class="ttc" id="fsm__pdo_8h_html"><div class="ttname"><a href="fsm__pdo_8h.html">fsm_pdo.h</a></div><div class="ttdoc">EtherCAT PDO configuration state machine structures. </div></div>
<div class="ttc" id="structec__sii__t_html_a7896df4d79afdb971b9817d41fbb847e"><div class="ttname"><a href="structec__sii__t.html#a7896df4d79afdb971b9817d41fbb847e">ec_sii_t::coe_details</a></div><div class="ttdeci">ec_sii_coe_details_t coe_details</div><div class="ttdoc">CoE detail flags. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00160">slave.h:160</a></div></div>
<div class="ttc" id="structec__sdo__request_html_ad8ef54b4c7495a17c81eabff59e079fd"><div class="ttname"><a href="structec__sdo__request.html#ad8ef54b4c7495a17c81eabff59e079fd">ec_sdo_request::index</a></div><div class="ttdeci">uint16_t index</div><div class="ttdoc">SDO index. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8h_source.html#l00050">sdo_request.h:50</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga42e7df5376954bc1cf1dde11fbf17387"><div class="ttname"><a href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a></div><div class="ttdeci">#define EC_WRITE_U8(DATA, VAL)</div><div class="ttdoc">Write an 8-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02187">ecrt.h:2187</a></div></div>
<div class="ttc" id="pdo__list_8c_html_aff8b6a50972c7106457f0db17fbeaf6c"><div class="ttname"><a href="pdo__list_8c.html#aff8b6a50972c7106457f0db17fbeaf6c">ec_pdo_list_clear_pdos</a></div><div class="ttdeci">void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl)</div><div class="ttdoc">Clears the list of mapped PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00070">pdo_list.c:70</a></div></div>
<div class="ttc" id="fsm__pdo__entry_8c_html_a45b02eb267b7a6ca3307cd23f673c945"><div class="ttname"><a href="fsm__pdo__entry_8c.html#a45b02eb267b7a6ca3307cd23f673c945">ec_fsm_pdo_entry_start_reading</a></div><div class="ttdeci">void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *fsm, ec_slave_t *slave, ec_pdo_t *pdo)</div><div class="ttdoc">Start reading a PDO&amp;#39;s entries. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo__entry_8c_source.html#l00107">fsm_pdo_entry.c:107</a></div></div>
<div class="ttc" id="pdo_8c_html_a399136c28e710fa96af02e46c0351dbb"><div class="ttname"><a href="pdo_8c.html#a399136c28e710fa96af02e46c0351dbb">ec_pdo_clear_entries</a></div><div class="ttdeci">void ec_pdo_clear_entries(ec_pdo_t *pdo)</div><div class="ttdoc">Clear PDO entry list. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8c_source.html#l00106">pdo.c:106</a></div></div>
<div class="ttc" id="pdo_8c_html_a0766e8e7b4f607aa3b8ce3320198c23b"><div class="ttname"><a href="pdo_8c.html#a0766e8e7b4f607aa3b8ce3320198c23b">ec_pdo_init</a></div><div class="ttdeci">void ec_pdo_init(ec_pdo_t *pdo)</div><div class="ttdoc">PDO constructor. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8c_source.html#l00046">pdo.c:46</a></div></div>
<div class="ttc" id="slave_8c_html_a52b38cde64ab24790c1a987fa2eac9f5"><div class="ttname"><a href="slave_8c.html#a52b38cde64ab24790c1a987fa2eac9f5">ec_slave_find_pdo</a></div><div class="ttdeci">const ec_pdo_t * ec_slave_find_pdo(const ec_slave_t *slave, uint16_t index)</div><div class="ttdoc">Finds a mapped PDO. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8c_source.html#l00725">slave.c:725</a></div></div>
<div class="ttc" id="structec__sdo__request_html_aa1f9c68c95c5fde23ed0807abf884b08"><div class="ttname"><a href="structec__sdo__request.html#aa1f9c68c95c5fde23ed0807abf884b08">ec_sdo_request::data</a></div><div class="ttdeci">uint8_t * data</div><div class="ttdoc">Pointer to SDO data. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8h_source.html#l00052">sdo_request.h:52</a></div></div>
<div class="ttc" id="fsm__coe_8c_html_a64003637666ff3dabeef48b99b42255c"><div class="ttname"><a href="fsm__coe_8c.html#a64003637666ff3dabeef48b99b42255c">ec_fsm_coe_success</a></div><div class="ttdeci">int ec_fsm_coe_success(const ec_fsm_coe_t *fsm)</div><div class="ttdoc">Returns, if the state machine terminated with success. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__coe_8c_source.html#l00262">fsm_coe.c:262</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_ae431cbfd699fdf7e875a347a771adc2a"><div class="ttname"><a href="fsm__pdo_8c.html#ae431cbfd699fdf7e875a347a771adc2a">ec_fsm_pdo_conf_state_start</a></div><div class="ttdeci">void ec_fsm_pdo_conf_state_start(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Start PDO configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00383">fsm_pdo.c:383</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_af81a92fdb4a376a02c5f0a1cf60917b4"><div class="ttname"><a href="structec__fsm__pdo.html#af81a92fdb4a376a02c5f0a1cf60917b4">ec_fsm_pdo::fsm_coe</a></div><div class="ttdeci">ec_fsm_coe_t * fsm_coe</div><div class="ttdoc">CoE state machine to use. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00057">fsm_pdo.h:57</a></div></div>
<div class="ttc" id="fsm__pdo__entry_8c_html_a74763c3c16724f3cb5822c62460b2014"><div class="ttname"><a href="fsm__pdo__entry_8c.html#a74763c3c16724f3cb5822c62460b2014">ec_fsm_pdo_entry_start_configuration</a></div><div class="ttdeci">void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *fsm, ec_slave_t *slave, const ec_pdo_t *pdo, const ec_pdo_t *cur_pdo)</div><div class="ttdoc">Start PDO mapping state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo__entry_8c_source.html#l00125">fsm_pdo_entry.c:125</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a88ff25e3668c0fa820a93d2e607e0a33"><div class="ttname"><a href="fsm__pdo_8c.html#a88ff25e3668c0fa820a93d2e607e0a33">ec_fsm_pdo_running</a></div><div class="ttdeci">int ec_fsm_pdo_running(const ec_fsm_pdo_t *fsm)</div><div class="ttdoc">Get running state. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00147">fsm_pdo.c:147</a></div></div>
<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div><div class="ttdoc">Global definitions and macros. </div></div>
<div class="ttc" id="fsm__pdo_8c_html_a6de72a51b22c6d2aa98f0aa1f23a30bc"><div class="ttname"><a href="fsm__pdo_8c.html#a6de72a51b22c6d2aa98f0aa1f23a30bc">ec_fsm_pdo_conf_state_mapping</a></div><div class="ttdeci">void ec_fsm_pdo_conf_state_mapping(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Let the PDO entry state machine configure the current PDO&amp;#39;s mapping. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00561">fsm_pdo.c:561</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_aa9827b177904c14f4c5ca497233970fd"><div class="ttname"><a href="fsm__pdo_8c.html#aa9827b177904c14f4c5ca497233970fd">ec_fsm_pdo_state_end</a></div><div class="ttdeci">void ec_fsm_pdo_state_end(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">State: END. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00799">fsm_pdo.c:799</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a2a834bb1087c6c89bcebeabd961677a3"><div class="ttname"><a href="fsm__pdo_8c.html#a2a834bb1087c6c89bcebeabd961677a3">ec_fsm_pdo_clear</a></div><div class="ttdeci">void ec_fsm_pdo_clear(ec_fsm_pdo_t *fsm)</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00090">fsm_pdo.c:90</a></div></div>
<div class="ttc" id="master_8h_html"><div class="ttname"><a href="master_8h.html">master.h</a></div><div class="ttdoc">EtherCAT master structure. </div></div>
<div class="ttc" id="fsm__pdo_8c_html_a9500b76d61e46b2e6906d21d93eb42b0"><div class="ttname"><a href="fsm__pdo_8c.html#a9500b76d61e46b2e6906d21d93eb42b0">ec_fsm_pdo_conf_action_pdo_mapping</a></div><div class="ttdeci">void ec_fsm_pdo_conf_action_pdo_mapping(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Check if the mapping has to be read, otherwise start to configure it. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00467">fsm_pdo.c:467</a></div></div>
<div class="ttc" id="pdo_8c_html_a2fdbc33334b65a05865e9df69df1737c"><div class="ttname"><a href="pdo_8c.html#a2fdbc33334b65a05865e9df69df1737c">ec_pdo_clear</a></div><div class="ttdeci">void ec_pdo_clear(ec_pdo_t *pdo)</div><div class="ttdoc">PDO destructor. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8c_source.html#l00094">pdo.c:94</a></div></div>
<div class="ttc" id="structec__pdo__t_html_ae319ba9b8bed2ac49cf6596ff690cfdd"><div class="ttname"><a href="structec__pdo__t.html#ae319ba9b8bed2ac49cf6596ff690cfdd">ec_pdo_t::index</a></div><div class="ttdeci">uint16_t index</div><div class="ttdoc">PDO index. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8h_source.html#l00051">pdo.h:51</a></div></div>
<div class="ttc" id="structec__pdo__t_html_ade04e761df137353930d271ed34120c9"><div class="ttname"><a href="structec__pdo__t.html#ade04e761df137353930d271ed34120c9">ec_pdo_t::sync_index</a></div><div class="ttdeci">int8_t sync_index</div><div class="ttdoc">Assigned sync manager. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8h_source.html#l00052">pdo.h:52</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a70621bc4964ac8f972294656425216e7"><div class="ttname"><a href="fsm__pdo_8c.html#a70621bc4964ac8f972294656425216e7">ec_fsm_pdo_conf_action_next_pdo</a></div><div class="ttdeci">ec_pdo_t * ec_fsm_pdo_conf_action_next_pdo(const ec_fsm_pdo_t *fsm, const struct list_head *list)</div><div class="ttdoc">Assign next PDO. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00403">fsm_pdo.c:403</a></div></div>
<div class="ttc" id="structec__slave_html"><div class="ttname"><a href="structec__slave.html">ec_slave</a></div><div class="ttdoc">EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00176">slave.h:176</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_ab2829ebc2c4e0c0573855457555617be"><div class="ttname"><a href="fsm__pdo_8c.html#ab2829ebc2c4e0c0573855457555617be">ec_fsm_pdo_state_error</a></div><div class="ttdeci">void ec_fsm_pdo_state_error(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">State: ERROR. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00788">fsm_pdo.c:788</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga883e43ca2b29e73ac5ec5dec214487b2"><div class="ttname"><a href="group__ApplicationInterface.html#ga883e43ca2b29e73ac5ec5dec214487b2">ecrt_sdo_request_read</a></div><div class="ttdeci">void ecrt_sdo_request_read(ec_sdo_request_t *req)</div><div class="ttdoc">Schedule an SDO read operation. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00224">sdo_request.c:224</a></div></div>
<div class="ttc" id="sdo__request_8c_html_af3a555948ca6b916238e6c696d676645"><div class="ttname"><a href="sdo__request_8c.html#af3a555948ca6b916238e6c696d676645">ec_sdo_request_clear</a></div><div class="ttdeci">void ec_sdo_request_clear(ec_sdo_request_t *req)</div><div class="ttdoc">SDO request destructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00076">sdo_request.c:76</a></div></div>
<div class="ttc" id="structec__slave__config_html_a28bf292a581f2af8696f41fa333ba0f3"><div class="ttname"><a href="structec__slave__config.html#a28bf292a581f2af8696f41fa333ba0f3">ec_slave_config::sync_configs</a></div><div class="ttdeci">ec_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]</div><div class="ttdoc">Sync manager configurations. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00136">slave_config.h:136</a></div></div>
<div class="ttc" id="structec__slave_html_a35616766fc7afbd4fc0b8a5d5a652bf7"><div class="ttname"><a href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">ec_slave::config</a></div><div class="ttdeci">ec_slave_config_t * config</div><div class="ttdoc">Current configuration. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00190">slave.h:190</a></div></div>
<div class="ttc" id="structec__pdo__t_html"><div class="ttname"><a href="structec__pdo__t.html">ec_pdo_t</a></div><div class="ttdoc">PDO description. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8h_source.html#l00049">pdo.h:49</a></div></div>
<div class="ttc" id="structec__sii__t_html_a7740732efd267741b956b8912502d8a1"><div class="ttname"><a href="structec__sii__t.html#a7740732efd267741b956b8912502d8a1">ec_sii_t::mailbox_protocols</a></div><div class="ttdeci">uint16_t mailbox_protocols</div><div class="ttdoc">Supported mailbox protocols. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00147">slave.h:147</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a38161765844e834ee5c0ed6aeca8321f"><div class="ttname"><a href="fsm__pdo_8c.html#a38161765844e834ee5c0ed6aeca8321f">ec_fsm_pdo_start_reading</a></div><div class="ttdeci">void ec_fsm_pdo_start_reading(ec_fsm_pdo_t *fsm, ec_slave_t *slave)</div><div class="ttdoc">Start reading the PDO configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00119">fsm_pdo.c:119</a></div></div>
<div class="ttc" id="fsm__pdo__entry_8c_html_a9cf110dbdb0ddf854410f572b5a310e3"><div class="ttname"><a href="fsm__pdo__entry_8c.html#a9cf110dbdb0ddf854410f572b5a310e3">ec_fsm_pdo_entry_success</a></div><div class="ttdeci">int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *fsm)</div><div class="ttdoc">Get execution result. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo__entry_8c_source.html#l00181">fsm_pdo_entry.c:181</a></div></div>
<div class="ttc" id="structec__master_html_abdecf290f3f7f2af1b2a7bf0d9c7b08d"><div class="ttname"><a href="structec__master.html#abdecf290f3f7f2af1b2a7bf0d9c7b08d">ec_master::debug_level</a></div><div class="ttdeci">unsigned int debug_level</div><div class="ttdoc">Master debug level. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00286">master.h:286</a></div></div>
<div class="ttc" id="slave_8h_html_a39519c3172e4196e40fa9006fb801612"><div class="ttname"><a href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a></div><div class="ttdeci">#define EC_SLAVE_ERR(slave, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific errors to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00076">slave.h:76</a></div></div>
<div class="ttc" id="structec__sync__config__t_html_ae70642198065ad0381dacdfa21fcebaa"><div class="ttname"><a href="structec__sync__config__t.html#ae70642198065ad0381dacdfa21fcebaa">ec_sync_config_t::pdos</a></div><div class="ttdeci">ec_pdo_list_t pdos</div><div class="ttdoc">Current PDO assignment. </div><div class="ttdef"><b>Definition:</b> <a href="sync__config_8h_source.html#l00049">sync_config.h:49</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_ac0785235fca5314b2d528ff3cb38ffc3"><div class="ttname"><a href="fsm__pdo_8c.html#ac0785235fca5314b2d528ff3cb38ffc3">ec_fsm_pdo_init</a></div><div class="ttdeci">void ec_fsm_pdo_init(ec_fsm_pdo_t *fsm, ec_fsm_coe_t *fsm_coe)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00074">fsm_pdo.c:74</a></div></div>
<div class="ttc" id="fsm__pdo__entry_8c_html_a3ff64581aa828daf9ba6baccf577e808"><div class="ttname"><a href="fsm__pdo__entry_8c.html#a3ff64581aa828daf9ba6baccf577e808">ec_fsm_pdo_entry_exec</a></div><div class="ttdeci">int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *fsm, ec_datagram_t *datagram)</div><div class="ttdoc">Executes the current state. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo__entry_8c_source.html#l00165">fsm_pdo_entry.c:165</a></div></div>
<div class="ttc" id="pdo_8c_html_a17ae4ccdd1aa4cfb9748b89ee9cbbfd0"><div class="ttname"><a href="pdo_8c.html#a17ae4ccdd1aa4cfb9748b89ee9cbbfd0">ec_pdo_equal_entries</a></div><div class="ttdeci">int ec_pdo_equal_entries(const ec_pdo_t *pdo1, const ec_pdo_t *pdo2)</div><div class="ttdoc">Compares the entries of two PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8c_source.html#l00222">pdo.c:222</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gace219530ddd83f5f3f54d5b329b94a3d"><div class="ttname"><a href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a></div><div class="ttdeci">#define EC_WRITE_U16(DATA, VAL)</div><div class="ttdoc">Write a 16-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02204">ecrt.h:2204</a></div></div>
<div class="ttc" id="structec__pdo__t_html_aaac321c4f80081e5f69e2ff30eac80e5"><div class="ttname"><a href="structec__pdo__t.html#aaac321c4f80081e5f69e2ff30eac80e5">ec_pdo_t::entries</a></div><div class="ttdeci">struct list_head entries</div><div class="ttdoc">List of PDO entries. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8h_source.html#l00054">pdo.h:54</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a2bc12f676c54517fbedcc0d1dfd1641e"><div class="ttname"><a href="fsm__pdo_8c.html#a2bc12f676c54517fbedcc0d1dfd1641e">ec_fsm_pdo_read_state_pdo_count</a></div><div class="ttdeci">void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Count assigned PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00243">fsm_pdo.c:243</a></div></div>
<div class="ttc" id="structec__slave_html_ae3ca485627d212610814bf4e0130eddd"><div class="ttname"><a href="structec__slave.html#ae3ca485627d212610814bf4e0130eddd">ec_slave::master</a></div><div class="ttdeci">ec_master_t * master</div><div class="ttdoc">Master owning the slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00178">slave.h:178</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_ac0e2b8e960f8251fd995942684816dfe"><div class="ttname"><a href="fsm__pdo_8c.html#ac0e2b8e960f8251fd995942684816dfe">ec_fsm_pdo_conf_action_next_pdo_mapping</a></div><div class="ttdeci">void ec_fsm_pdo_conf_action_next_pdo_mapping(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Check mapping of next PDO, otherwise configure assignment. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00582">fsm_pdo.c:582</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_a8b69e76c8f517ca1d7e8d782122ce7b8"><div class="ttname"><a href="structec__fsm__pdo.html#a8b69e76c8f517ca1d7e8d782122ce7b8">ec_fsm_pdo::sync_index</a></div><div class="ttdeci">uint8_t sync_index</div><div class="ttdoc">Current sync manager index. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00064">fsm_pdo.h:64</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_adf6b32f9717d783f066feb2268317387"><div class="ttname"><a href="fsm__pdo_8c.html#adf6b32f9717d783f066feb2268317387">ec_fsm_pdo_conf_action_check_mapping</a></div><div class="ttdeci">void ec_fsm_pdo_conf_action_check_mapping(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Check if the mapping has to be re-configured. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00526">fsm_pdo.c:526</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a57102882d5e4eb7eee83ff7cc6bd0c50"><div class="ttname"><a href="fsm__pdo_8c.html#a57102882d5e4eb7eee83ff7cc6bd0c50">ec_fsm_pdo_read_action_next_sync</a></div><div class="ttdeci">void ec_fsm_pdo_read_action_next_sync(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Read PDO assignment of next sync manager. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00207">fsm_pdo.c:207</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html"><div class="ttname"><a href="structec__fsm__pdo.html">ec_fsm_pdo</a></div><div class="ttdoc">PDO configuration state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00054">fsm_pdo.h:54</a></div></div>
<div class="ttc" id="structec__sdo__request_html_af3b7a335ce659260bed0d04f90ba9e4a"><div class="ttname"><a href="structec__sdo__request.html#af3b7a335ce659260bed0d04f90ba9e4a">ec_sdo_request::subindex</a></div><div class="ttdeci">uint8_t subindex</div><div class="ttdoc">SDO subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8h_source.html#l00051">sdo_request.h:51</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_adeb03e520938d50c3adb3b15b8a7801c"><div class="ttname"><a href="fsm__pdo_8c.html#adeb03e520938d50c3adb3b15b8a7801c">ec_fsm_pdo_success</a></div><div class="ttdeci">int ec_fsm_pdo_success(const ec_fsm_pdo_t *fsm)</div><div class="ttdoc">Get execution result. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00180">fsm_pdo.c:180</a></div></div>
<div class="ttc" id="pdo_8c_html_a31ae386c7c51b495354db61f08e019a3"><div class="ttname"><a href="pdo_8c.html#a31ae386c7c51b495354db61f08e019a3">ec_pdo_copy_entries</a></div><div class="ttdeci">int ec_pdo_copy_entries(ec_pdo_t *pdo, const ec_pdo_t *other)</div><div class="ttdoc">Copy PDO entries from another PDO. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8c_source.html#l00186">pdo.c:186</a></div></div>
<div class="ttc" id="fsm__pdo__entry_8c_html_a133b853be4523479faa849c220581400"><div class="ttname"><a href="fsm__pdo__entry_8c.html#a133b853be4523479faa849c220581400">ec_fsm_pdo_entry_init</a></div><div class="ttdeci">void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *fsm, ec_fsm_coe_t *fsm_coe)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo__entry_8c_source.html#l00068">fsm_pdo_entry.c:68</a></div></div>
<div class="ttc" id="structec__sdo__request_html_a9a094314f738ed0fdf4b46f4bd37dfe9"><div class="ttname"><a href="structec__sdo__request.html#a9a094314f738ed0fdf4b46f4bd37dfe9">ec_sdo_request::data_size</a></div><div class="ttdeci">size_t data_size</div><div class="ttdoc">Size of SDO data. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8h_source.html#l00054">sdo_request.h:54</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gaa78148947379983986940d1980ac3db1"><div class="ttname"><a href="group__ApplicationInterface.html#gaa78148947379983986940d1980ac3db1">EC_READ_U16</a></div><div class="ttdeci">#define EC_READ_U16(DATA)</div><div class="ttdoc">Read a 16-bit unsigned value from EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02135">ecrt.h:2135</a></div></div>
<div class="ttc" id="mailbox_8h_html"><div class="ttname"><a href="mailbox_8h.html">mailbox.h</a></div><div class="ttdoc">Mailbox functionality. </div></div>
<div class="ttc" id="sdo__request_8c_html_a0e62e96b9d01ab1b89cc2df89d0ac8ef"><div class="ttname"><a href="sdo__request_8c.html#a0e62e96b9d01ab1b89cc2df89d0ac8ef">ec_sdo_request_init</a></div><div class="ttdeci">void ec_sdo_request_init(ec_sdo_request_t *req)</div><div class="ttdoc">SDO request constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00056">sdo_request.c:56</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_a38e76d6856ae5035b91bf5b0850218ad"><div class="ttname"><a href="structec__fsm__pdo.html#a38e76d6856ae5035b91bf5b0850218ad">ec_fsm_pdo::sync</a></div><div class="ttdeci">ec_sync_t * sync</div><div class="ttdoc">Current sync manager. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00065">fsm_pdo.h:65</a></div></div>
<div class="ttc" id="fsm__coe_8c_html_acf977ba0f42eabf38b9e0d5eb508a568"><div class="ttname"><a href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a></div><div class="ttdeci">int ec_fsm_coe_exec(ec_fsm_coe_t *fsm, ec_datagram_t *datagram)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__coe_8c_source.html#l00228">fsm_coe.c:228</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_a60d790b9858292f2229115dabc994c08"><div class="ttname"><a href="structec__fsm__pdo.html#a60d790b9858292f2229115dabc994c08">ec_fsm_pdo::pdo_count</a></div><div class="ttdeci">unsigned int pdo_count</div><div class="ttdoc">Number of assigned PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00068">fsm_pdo.h:68</a></div></div>
<div class="ttc" id="structec__sync__t_html_a96e5121c2fd258439b25d1a826ec5970"><div class="ttname"><a href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">ec_sync_t::pdos</a></div><div class="ttdeci">ec_pdo_list_t pdos</div><div class="ttdoc">Current PDO assignment. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00053">sync.h:53</a></div></div>
<div class="ttc" id="pdo__list_8c_html_ac6f343a6f07a1f817fc0c8820fbd5314"><div class="ttname"><a href="pdo__list_8c.html#ac6f343a6f07a1f817fc0c8820fbd5314">ec_pdo_list_init</a></div><div class="ttdeci">void ec_pdo_list_init(ec_pdo_list_t *pl)</div><div class="ttdoc">PDO list constructor. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00050">pdo_list.c:50</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a3d1b9fe3c9f3e7885347faaf09bcf1e1"><div class="ttname"><a href="fsm__pdo_8c.html#a3d1b9fe3c9f3e7885347faaf09bcf1e1">ec_fsm_pdo_read_state_pdo</a></div><div class="ttdeci">void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Fetch PDO information. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00307">fsm_pdo.c:307</a></div></div>
<div class="ttc" id="pdo_8c_html_a4009041a62d3844c85987c25ecaaf78f"><div class="ttname"><a href="pdo_8c.html#a4009041a62d3844c85987c25ecaaf78f">ec_pdo_print_entries</a></div><div class="ttdeci">void ec_pdo_print_entries(const ec_pdo_t *pdo)</div><div class="ttdoc">Outputs the PDOs in the list. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8c_source.html#l00299">pdo.c:299</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a9669ea3ae334cee2b0a76bfa3b540767"><div class="ttname"><a href="fsm__pdo_8c.html#a9669ea3ae334cee2b0a76bfa3b540767">ec_fsm_pdo_conf_action_check_assignment</a></div><div class="ttdeci">void ec_fsm_pdo_conf_action_check_assignment(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Check if the PDO assignment of the current SM has to be re-configured. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00601">fsm_pdo.c:601</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gabfd606064b98475fc6cbe52aea6b5133"><div class="ttname"><a href="group__ApplicationInterface.html#gabfd606064b98475fc6cbe52aea6b5133">EC_READ_U8</a></div><div class="ttdeci">#define EC_READ_U8(DATA)</div><div class="ttdoc">Read an 8-bit unsigned value from EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02119">ecrt.h:2119</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a935c62948338bf55beef8ea894d869a1"><div class="ttname"><a href="fsm__pdo_8c.html#a935c62948338bf55beef8ea894d869a1">ec_fsm_pdo_conf_action_assign_pdo</a></div><div class="ttdeci">void ec_fsm_pdo_conf_action_assign_pdo(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Assign a PDO. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00687">fsm_pdo.c:687</a></div></div>
<div class="ttc" id="slave__config_8h_html"><div class="ttname"><a href="slave__config_8h.html">slave_config.h</a></div><div class="ttdoc">EtherCAT slave configuration structure. </div></div>
<div class="ttc" id="fsm__pdo__entry_8c_html_a825211609f332cdf5edeef3b472292d6"><div class="ttname"><a href="fsm__pdo__entry_8c.html#a825211609f332cdf5edeef3b472292d6">ec_fsm_pdo_entry_clear</a></div><div class="ttdeci">void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *fsm)</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo__entry_8c_source.html#l00081">fsm_pdo_entry.c:81</a></div></div>
<div class="ttc" id="fsm__coe_8c_html_a6b624db9f166f9b6957abf98de1825e4"><div class="ttname"><a href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a></div><div class="ttdeci">void ec_fsm_coe_transfer(ec_fsm_coe_t *fsm, ec_slave_t *slave, ec_sdo_request_t *request)</div><div class="ttdoc">Starts to transfer an SDO to/from a slave. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__coe_8c_source.html#l00205">fsm_coe.c:205</a></div></div>
<div class="ttc" id="sdo__request_8c_html_a2f1e920bf54c7826a9747beae685caf4"><div class="ttname"><a href="sdo__request_8c.html#a2f1e920bf54c7826a9747beae685caf4">ec_sdo_request_alloc</a></div><div class="ttdeci">int ec_sdo_request_alloc(ec_sdo_request_t *req, size_t size)</div><div class="ttdoc">Pre-allocates the data memory. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00127">sdo_request.c:127</a></div></div>
<div class="ttc" id="pdo__list_8c_html_ac05fc5ee2cf2afdf8b8501ef194c4002"><div class="ttname"><a href="pdo__list_8c.html#ac05fc5ee2cf2afdf8b8501ef194c4002">ec_pdo_list_equal</a></div><div class="ttdeci">int ec_pdo_list_equal(const ec_pdo_list_t *pl1, const ec_pdo_list_t *pl2)</div><div class="ttdoc">Compares two PDO lists. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00207">pdo_list.c:207</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_aee68eda7245e56950c5409bf92c36c7d"><div class="ttname"><a href="structec__fsm__pdo.html#aee68eda7245e56950c5409bf92c36c7d">ec_fsm_pdo::fsm_pdo_entry</a></div><div class="ttdeci">ec_fsm_pdo_entry_t fsm_pdo_entry</div><div class="ttdoc">PDO entry state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00058">fsm_pdo.h:58</a></div></div>
<div class="ttc" id="structec__pdo__t_html_aa7e6a0e0405c93414052c6d998d604ad"><div class="ttname"><a href="structec__pdo__t.html#aa7e6a0e0405c93414052c6d998d604ad">ec_pdo_t::list</a></div><div class="ttdeci">struct list_head list</div><div class="ttdoc">List item. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8h_source.html#l00050">pdo.h:50</a></div></div>
<div class="ttc" id="structec__sii__coe__details__t_html_acefe917c36bc9c0fc0ff931fcbabc211"><div class="ttname"><a href="structec__sii__coe__details__t.html#acefe917c36bc9c0fc0ff931fcbabc211">ec_sii_coe_details_t::enable_pdo_configuration</a></div><div class="ttdeci">uint8_t enable_pdo_configuration</div><div class="ttdoc">PDO configuration possible. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00161">globals.h:161</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a61d6727b2003591ecc4d493312321028"><div class="ttname"><a href="fsm__pdo_8c.html#a61d6727b2003591ecc4d493312321028">ec_fsm_pdo_conf_state_zero_pdo_count</a></div><div class="ttdeci">void ec_fsm_pdo_conf_state_zero_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Set the number of assigned PDOs to zero. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00648">fsm_pdo.c:648</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gab737cd2955a397ebd0df13e9148cec9f"><div class="ttname"><a href="group__ApplicationInterface.html#gab737cd2955a397ebd0df13e9148cec9f">EC_MAX_SYNC_MANAGERS</a></div><div class="ttdeci">#define EC_MAX_SYNC_MANAGERS</div><div class="ttdoc">Maximum number of sync managers per slave. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00200">ecrt.h:200</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_ac1519353602acca12353ea0719a6ba85"><div class="ttname"><a href="structec__fsm__pdo.html#ac1519353602acca12353ea0719a6ba85">ec_fsm_pdo::pdos</a></div><div class="ttdeci">ec_pdo_list_t pdos</div><div class="ttdoc">PDO configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00059">fsm_pdo.h:59</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a6676f274857f9bd450f5f74053d79eff"><div class="ttname"><a href="fsm__pdo_8c.html#a6676f274857f9bd450f5f74053d79eff">ec_fsm_pdo_read_state_pdo_entries</a></div><div class="ttdeci">void ec_fsm_pdo_read_state_pdo_entries(ec_fsm_pdo_t *, ec_datagram_t *)</div><div class="ttdoc">Fetch PDO information. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00356">fsm_pdo.c:356</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gaf0e5a35aa54d971d75a6d00c148ffa83"><div class="ttname"><a href="group__ApplicationInterface.html#gaf0e5a35aa54d971d75a6d00c148ffa83">ecrt_sdo_request_write</a></div><div class="ttdeci">void ecrt_sdo_request_write(ec_sdo_request_t *req)</div><div class="ttdoc">Schedule an SDO write operation. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00235">sdo_request.c:235</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gae002eb267f69d91de0c83a5f4f349372"><div class="ttname"><a href="group__ApplicationInterface.html#gae002eb267f69d91de0c83a5f4f349372">ecrt_sdo_request_index</a></div><div class="ttdeci">void ecrt_sdo_request_index(ec_sdo_request_t *req, uint16_t index, uint8_t subindex)</div><div class="ttdoc">Set the SDO index and subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00187">sdo_request.c:187</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_aec477e3e790d99da798a44e7523c0508"><div class="ttname"><a href="structec__fsm__pdo.html#aec477e3e790d99da798a44e7523c0508">ec_fsm_pdo::pdo_pos</a></div><div class="ttdeci">unsigned int pdo_pos</div><div class="ttdoc">Assignment position of current PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00067">fsm_pdo.h:67</a></div></div>
<div class="ttc" id="structec__sii__t_html_ac9a082bcb14f1d40aa7a2ee278a4a912"><div class="ttname"><a href="structec__sii__t.html#ac9a082bcb14f1d40aa7a2ee278a4a912">ec_sii_t::has_general</a></div><div class="ttdeci">unsigned int has_general</div><div class="ttdoc">General category present. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00154">slave.h:154</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html_a83ce3aec31b10b4941c60088ac1c4a10"><div class="ttname"><a href="structec__fsm__pdo.html#a83ce3aec31b10b4941c60088ac1c4a10">ec_fsm_pdo::slave_pdo</a></div><div class="ttdeci">ec_pdo_t slave_pdo</div><div class="ttdoc">PDO actually appearing in a slave. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00061">fsm_pdo.h:61</a></div></div>
<div class="ttc" id="structec__fsm__coe_html"><div class="ttname"><a href="structec__fsm__coe.html">ec_fsm_coe</a></div><div class="ttdoc">Finite state machines for the CANopen over EtherCAT protocol. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__coe_8h_source.html#l00052">fsm_coe.h:52</a></div></div>
<div class="ttc" id="slave_8c_html_a0a1f1035888d33dcd86a5ca5a5f3acc2"><div class="ttname"><a href="slave_8c.html#a0a1f1035888d33dcd86a5ca5a5f3acc2">ec_slave_get_sync</a></div><div class="ttdeci">ec_sync_t * ec_slave_get_sync(ec_slave_t *slave, uint8_t sync_index)</div><div class="ttdoc">Get the sync manager given an index. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8c_source.html#l00590">slave.c:590</a></div></div>
<div class="ttc" id="structec__sii__coe__details__t_html_a30ce481a3965c5bc1737918e3cbe6d63"><div class="ttname"><a href="structec__sii__coe__details__t.html#a30ce481a3965c5bc1737918e3cbe6d63">ec_sii_coe_details_t::enable_pdo_assign</a></div><div class="ttdeci">uint8_t enable_pdo_assign</div><div class="ttdoc">PDO mapping configurable. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00160">globals.h:160</a></div></div>
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